Progress Report

Yoonsang Lee,Movement Research Lab.,Seoul National University

Previous Result

Today

• Tracking simulation

human model

reference trajectory

compute muscle ac-tivation

forward dynamics simulation

Reference Motion

Test Model

• Modified version of “BothLegs“ model

• 21 dof• 93 muscles

BothLegs

Simulation (with fixed pelvis)

0.2x speed

Muscle-level PD control

• Use difference between length infor-mation of each muscle

reference motion (t=0.884s) simulation (t=0.884s)

Muscle-level PD control

• , of reference motion are kinematically determined

• We can get , from simulation state

Simulation with Contact

0.2x Speed

Discussion

• Excitation & activation• Agonist / antagonist• Feedforward term• Computation time

Next

• Try more simple model (gait2354)• Motion data generation– bvh -> mot

• More stable tracking

Thank you